An axial movement mechanism of a biological micro-manipulator with adjustable oblique movement angle

Abstract

The present invention relates to an axial movement mechanism of a biological micromanipulator with an adjustable oblique movement angle, which comprises an angle adjustment component, an axial movement module and an operator arranged in sequence from top to bottom; the angle adjustment component includes a horizontally arranged reference plate, an adjustment shaft which is horizontally and rotatably connected to the bottom of the reference plate and extends in the front-rear direction, an adjustment plate arranged horizontally below the adjustment shaft, a worm gear sleeved and fixed outside the adjustment shaft, a first servo motor fixed to the bottom of the reference plate, and a worm concentrically fixed on the rotating shaft of the first servo motor and meshing with the worm gear; both ends of the adjustment shaft are fixed to the adjustment plate, and the rotating shaft of the first servo motor is arranged horizontally to the left or right; the present invention can significantly improve the accuracy of puncture or injection operations to ensure the experimental effect and avoid experimental failures; it also greatly speeds up the operation speed to achieve the effect of saving time and effort and greatly facilitates the use.

Description

Technical Field

[0001] The present invention relates to the technical field of biological experimental instruments, and particularly relates to an axial movement mechanism of a biological micromanipulator with an adjustable oblique movement angle. Background Art

[0002] A biological micromanipulator is a precision optical instrument mainly used for performing delicate surgeries and injections on cells under a microscope. It realizes surgeries such as nuclear transplantation, gene injection, and embryo cutting through a micromanipulation system (including an inverted microscope or a stereomicroscope and a micromanipulator), and can also be used for separating single cells; a biological micromanipulator generally includes an eyepiece, an objective lens, a stage, a reflector (condenser), and a manipulator; the eyepiece usually consists of upper and lower lenses, the objective lens is installed on a rotator at the lower end of the lens barrel, and the manipulator can be used to fix detection tools (such as a puncture needle, a syringe, etc.).

[0003] The stages in existing biological micromanipulators are all internally provided with an axial movement mechanism, whose function is to control the lateral movement amplitude of the stage to assist in focusing, ensuring the precise position and clarity of the sample in the field of view to cooperate with the work of the manipulator. This results in that if one wants to find the operation site on the sample, one can only adjust the position of the stage through the axial movement mechanism to adapt to the position of the manipulator, which is rather troublesome. At the same time, due to the single adjustment function of the current axial movement mechanism, it can only move in four directions of front, back, left, and right in the horizontal direction and cannot be tilted, while most manipulators can only adjust the height and also cannot be tilted. This makes it very difficult for the micromanipulation or injection angle to change according to actual needs to reach the optimal angle, thereby resulting in a low accuracy of the puncture or injection operation, affecting the experimental effect and even leading to experimental failure, seriously hindering its practical use in the fields of biological scientific research and production; in addition, the moving precision of the axial movement mechanism is not high and manual operation is required, so the operation speed is slow, time-consuming and laborious, and it is extremely inconvenient to use, and urgent solutions are needed. Summary of the Invention

[0004] Aiming at the current situation of the above-mentioned prior art, the technical problem to be solved by the present invention is to provide an axial movement mechanism of a biological micromanipulator with an adjustable oblique movement angle, which greatly increases the adjustment function, so that the micromanipulation or injection angle can be accurately changed according to actual needs to reach the optimal angle, thereby significantly improving the accuracy of the puncture or injection operation to ensure the experimental effect and avoid experimental failure, while greatly simplifying the operation steps to speed up the operation speed, achieving the effects of saving time and effort and greatly facilitating the use, and improving the operation efficiency.

[0005] The technical solution adopted by the present invention to solve the above technical problems is as follows: An axial movement mechanism of a biological micromanipulator with an adjustable oblique movement angle, characterized in that it includes an angle adjustment component, an axial movement module, and an operator, which are arranged in sequence from top to bottom;

[0006] The angle adjustment component includes a horizontally arranged reference plate, a horizontally and rotatably connected adjustment shaft at the bottom of the reference plate and running front and back, an adjustment plate horizontally arranged below the adjustment shaft, a worm gear sleeved and fixed outside the adjustment shaft, a first servo motor fixed at the bottom of the reference plate, and a worm concentrically fixed on the rotating shaft of the first servo motor and meshing with the worm gear. Both ends of the adjustment shaft are fixed on the adjustment plate, and the rotating shaft of the first servo motor is horizontally arranged to the left or right;

[0007] The operator is arranged at the bottom of the adjustment plate through the axial movement module, and the operator can have functions of moving forward and backward and left and right translation in a direction parallel to the adjustment plate through the axial movement module;

[0008] The operator includes a U-shaped hanger inversely and rotatably connected to the moving end of the axial movement module, two arc-shaped backplate strips symmetrically arranged and respectively fixed on the inner walls on both sides of the opening of the U-shaped hanger, and two operating units respectively arranged on the two arc-shaped backplate strips. The openings of the two arc-shaped backplate strips are both downward;

[0009] The operating unit includes a positioning seat movably connected to the inner wall of the arc-shaped backplate strip to have a circumferential sliding function along the central axis of the arc-shaped backplate strip, an extension arm fixed on the positioning seat, and a syringe needle detachably fixed at the end of the extension arm;

[0010] The operating unit further includes an arc-shaped rack concentrically fixed on the inner wall of the arc-shaped backplate strip, a second servo motor fixed on the positioning seat, and a gear concentrically fixed on the rotating shaft of the second servo motor. The rotating shaft of the second servo motor is horizontally arranged and perpendicular to the arc-shaped backplate strip, and the gear meshes on the arc-shaped tooth surface of the arc-shaped rack;

[0011] The operating unit further includes an arc-shaped grating scale arranged between the arc-shaped backplate strip and the second servo motor or the positioning seat. The arc-shaped grating scale includes an arc-shaped scale grating concentrically fixed on the arc-shaped backplate strip and a grating reading head fixed on the second servo motor or the positioning seat and cooperating with the arc-shaped scale grating.

[0012] Preferably, the axial movement module includes a fixed plate fixed at the bottom of the adjustment plate and parallel to the adjustment plate, a movable plate arranged parallel to the bottom of the fixed plate, two first drive units arranged between the movable plate and the fixed plate and symmetrically distributed left and right, two second drive units arranged between the movable plate and the fixed plate and symmetrically distributed front and back, and a third servo motor embedded and fixed at the bottom of the movable plate, and the rotating shaft of the third servo motor is arranged downward and vertically fixed at the top of the U-shaped hanger.

[0013] Preferably, the first driving unit includes a first driving motor fixed to the bottom of the fixed plate, a first lead screw rotatably connected to the bottom of the fixed plate and moving forward and backward, a first traction block sleeved and screwed outside the first lead screw, and a first movable block and a second movable block respectively arranged up and down, the rotating shaft of the first driving motor is concentrically fixed to one end of the first lead screw, the top of the first movable block is movably connected to the bottom of the fixed plate to have a forward and backward translation function, the bottom of the first movable block is movably connected to the top of the second movable block to have a left and right translation function, the bottom of the second movable block is fixed to the top of the movable plate, and the first traction block is fixed to one side of the second movable block.

[0014] Preferably, the second driving unit includes a second driving motor fixed to the bottom of the fixed plate, a second lead screw rotatably connected to the bottom of the fixed plate and moving forward and backward, a second traction block sleeved and screwed outside the second lead screw, and a third moving block and a fourth moving block respectively arranged up and down, the rotating shaft of the second driving motor is concentrically fixed to one end of the second lead screw, the top of the third moving block is movably connected to the bottom of the fixed plate to have a left and right translation function, the bottom of the third moving block is movably connected to the top of the fourth moving block to have a front and back translation function, the bottom of the fourth moving block is fixed to the top of the moving plate, and the second traction block is fixed to one side of the fourth moving block.

[0015] Preferably, the operator also includes a positioning ring fixed between the two ends of each arc-shaped back panel strip, two hanging plates respectively fixed on the outer walls on both sides of the opening of the U-shaped hanger and both are inclined, and a spherical cover concentrically arranged on the inner side of the positioning ring, and the ends of the two hanging plates both pass inward through the opening of an arc-shaped back panel strip on the same side and are both fixed on the spherical cover.

[0016] Preferably, the opening of the spherical cover is arranged downward, the center of the circumferential sliding trajectory of the positioning seat coincides with the center of the spherical cover, a positioning groove is provided on the top of the spherical cover, and the end of the needle tube close to the spherical cover is movably inserted in the positioning groove and faces the center of the spherical cover.

[0017] Preferably, an annular flange is formed outwardly at the edge of the opening of the spherical cover, and correspondingly, an arc-shaped connecting strip is formed outwardly at the end of each of the two hanging plates, and the two arc-shaped connecting strips are arranged diagonally to each other and are fixed on the annular flange.

[0018] Preferably, an arc-shaped groove is formed on the outer wall of the top of the arc-shaped back plate strip, the arc-shaped scale grating is concentrically fixed in the arc-shaped groove, and the grating reading head extends into the arc-shaped groove and cooperates with the arc-shaped scale grating.

[0019] Compared with the prior art, the advantages of the present invention are as follows: the present invention transfers the axial movement mechanism originally built in the stage to the manipulator, so that the stage and the samples on the stage remain stationary, but adjusts the position and angle of the syringe needle by means of the manipulator to find the operation position on the sample, and an angle adjustment component is added to the axial movement mechanism, and then the manipulator can be tilted by means of the angle adjustment component to adjust the oblique movement angle of the manipulator 8, and the manipulator can be translated forward and backward and left and right in the tilted state by means of the axial movement module; both of the two operation units in the manipulator can also slide circumferentially to directly adjust the piercing angle of the syringe needle, which greatly increases the adjustment function of the biological microscope manipulator, and then the microscopic puncture or injection angle can be accurately changed according to actual needs to reach the best angle, so as to significantly improve the accuracy of the puncture or injection operation to ensure the experimental effect and avoid experimental failure, effectively promoting the practical use of the biological microscope manipulator in the fields of biological scientific research and production; at the same time, the adjustment of the position and angle does not need to be manually operated, but is carried out automatically and accurately, which greatly simplifies the operation steps and speeds up the operation speed, so as to achieve the effect of saving time and effort and greatly facilitating the use; in addition, since the present invention is provided with two operation units, there are two syringe needles, and two positions on the sample can be operated simultaneously, thereby improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the left front side exploded structure diagram of the present invention;

[0021] Figure 2 is the left front side structure diagram of the manipulator of the present invention;

[0022] Figure 3 is the left front side structure diagram of the positioning ring, the hanging plate and the spherical cover of the present invention;

[0023] Figure 4 is the right front side upward view structure diagram of the axial movement module of the present invention;

[0024] Figure 5 is the left front side distribution position and the structure exploded diagram of the first moving block and the second moving block in the two first driving units and the third moving block and the fourth moving block in the two second driving units of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0025] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The terms "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper", "lower", "left" and "right" are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly. The term "and / or" is only a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" relationship.

[0026] To keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of known functions and known components are omitted in the present invention.

[0027] As Figures 1 to 5 shown, an axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle includes an angle adjustment component, an axial movement module 7 and an operator 8 arranged successively from top to bottom;

[0028] The angle adjustment component includes a reference plate 1 arranged horizontally, an adjustment shaft 2 connected horizontally and rotatably to the bottom of the reference plate 1 and running front and back, an adjustment plate 3 arranged horizontally below the adjustment shaft 2, a worm gear 4 sleeved and fixed outside the adjustment shaft 2, a first servo motor 5 fixed to the bottom of the reference plate 1, and a worm 6 concentrically fixed on the rotating shaft of the first servo motor 5 and meshing with the worm gear 4. Both ends of the adjustment shaft 2 are fixed to the adjustment plate 3, and the rotating shaft of the first servo motor 5 is arranged horizontally to the left or right;

[0029] The operator 8 is arranged at the bottom of the adjustment plate 3 through the axial movement module 7, and the operator 8 can have functions of moving forward and backward and left and right in a direction parallel to the adjustment plate 3 through the axial movement module 7;

[0030] The operator 8 includes a U-shaped hanger 82 connected in an inverted and rotatable manner to the moving end of the axial movement module 7, two arc-shaped backplate strips 83 respectively fixed on the inner walls on both sides of the opening of the U-shaped hanger 82 and symmetrically arranged, and two operation units respectively arranged on the two arc-shaped backplate strips 83. The openings of the two arc-shaped backplate strips 83 are both arranged downward;

[0031] The operating unit includes a positioning seat 85 movably connected to the inner wall of the arc-shaped backplane strip 83 to have a circumferential sliding function along the central axis of the arc-shaped backplane strip 83, an extension arm 86 fixed to the positioning seat 85, and a syringe needle 811 detachably fixed to the end of the extension arm 86;

[0032] The operating unit further includes an arc-shaped rack 84 concentrically fixed to the inner wall of the arc-shaped backplane strip 83, a second servo motor 88 fixed to the positioning seat 85, and a gear 87 concentrically fixed to the rotating shaft of the second servo motor 88. The rotating shaft of the second servo motor 88 is horizontally arranged and perpendicular to the arc-shaped backplane strip 83, and the gear 87 meshes with the arc-shaped tooth surface of the arc-shaped rack 84;

[0033] The operating unit further includes an arc-shaped grating scale disposed between the arc-shaped backplane strip 83 and the second servo motor 88 or the positioning seat 85. The arc-shaped grating scale includes an arc-shaped scale grating 89 concentrically fixed to the arc-shaped backplane strip 83 and a grating reading head 810 fixed to the second servo motor 88 or the positioning seat 85 and cooperating with the arc-shaped scale grating 89.

[0034] The axial movement module 7 includes a fixed plate 71 fixed to the bottom of the adjusting plate 3 and parallel to the adjusting plate 3, a moving plate 72 disposed parallel to the lower side of the fixed plate 71, two first driving units 73 disposed between the moving plate 72 and the fixed plate 71 and symmetrically distributed left and right, two second driving units 74 disposed between the moving plate 72 and the fixed plate 71 and symmetrically distributed front and back, and a third servo motor 75 embedded and fixed to the bottom of the moving plate 72. The rotating shaft of the third servo motor 75 is downwardly arranged and perpendicularly fixed to the top of the U-shaped hanging bracket 82.

[0035] The first driving unit 73 includes a first driving motor 731 fixed to the bottom of the fixed plate 71, a first lead screw 732 rotatably connected to the bottom of the fixed plate 71 and running front and back, a first traction block 733 sleeved and screwed outside the first lead screw 732, and a first moving block 734 and a second moving block 735 arranged vertically. The rotating shaft of the first driving motor 731 is concentrically fixed to one end of the first lead screw 732. The top of the first moving block 734 is movably connected to the bottom of the fixed plate 71 to have a front and back translation function, the bottom of the first moving block 734 is movably connected to the top of the second moving block 735 to have a left and right translation function, the bottom of the second moving block 735 is fixed to the top of the moving plate 72, and the first traction block 733 is fixed to one side of the second moving block 735.

[0036] The second driving unit 74 includes a second driving motor 741 fixed to the bottom of the fixed plate 71, a second lead screw 742 rotatably connected to the bottom of the fixed plate 71 and extending longitudinally, a second traction block 743 sleeved and screwed outside the second lead screw 742, and a third moving block 744 and a fourth moving block 745 arranged vertically. The rotating shaft of the second driving motor 741 is concentrically fixed to one end of the second lead screw 742. The top of the third moving block 744 is movably connected to the bottom of the fixed plate 71 to have the function of horizontal translation, and the bottom of the third moving block 744 is movably connected to the top of the fourth moving block 745 to have the function of longitudinal translation. The bottom of the fourth moving block 745 is fixed to the top of the moving plate 72, and the second traction block 743 is fixed to one side of the fourth moving block 745.

[0037] The manipulator 8 further includes a positioning ring 81 fixed between the two ends of each arc-shaped back plate strip 83, two hanging plates 812 respectively fixed on the outer walls of both sides of the opening of the U-shaped hanger 82 and both inclined, and a spherical cover 813 concentrically arranged inside the positioning ring 81. The ends of the two hanging plates 812 pass through the opening of one arc-shaped back plate strip 83 on the same side inward and are both fixed on the spherical cover 813.

[0038] The opening of the spherical cover 813 is arranged downward. The center of the circumferential sliding track of the positioning seat 85 coincides with the center of the sphere of the spherical cover 813. A positioning groove 8131 is opened at the top of the spherical cover 813. One ends of the syringe needles 811 close to the spherical cover 813 are movably inserted into the positioning groove 8131 and are aligned with the center of the sphere of the spherical cover 813.

[0039] An annular flange 8132 is formed outward at the edge of the opening of the spherical cover 813. Correspondingly, an arc-shaped connecting strip 8121 is formed outward at the end of each of the two hanging plates 812. The two arc-shaped connecting strips 8121 are arranged diagonally and are both fixed on the annular flange 8132.

[0040] An arc-shaped groove 831 is opened on the outer wall at the top of the arc-shaped back plate strip 83. The arc-shaped scale grating 89 is concentrically fixed in the arc-shaped groove 831. The grating reading head 810 extends into the arc-shaped groove 831 and cooperates with the arc-shaped scale grating 89.

[0041] Usage method:

[0042] First, install the sample to be detected on the stage of the biological microscope manipulator, and then adjust the position and angle of the syringe needles 811 in the two operating units. During adjustment, first start the first servo motor 5 to rotate its rotating shaft, and then drive the adjustment plate 3 to rotate clockwise or counterclockwise by means of the meshing relationship between the worm 6 and the worm gear 4, so as to drive the manipulator 8 to rotate synchronously by means of the axial movement module 7, and thus complete the rough adjustment of the position and angle of the syringe needles 811.

[0043] Next, start the first drive motors 731 in the two first drive units 73 simultaneously to rotate their drive shafts, thereby driving the two first lead screws 732 to rotate synchronously. Then, according to the principle of screw connection, drive the two first traction blocks 733 to move forward or backward. Since the first moving block 734 and the second moving block 735 can only translate relative to each other left and right and not forward and backward, and since the first moving block 734 and the fixed plate 71 can only translate relative to each other forward and backward and not left and right, the two first traction blocks 733 will drive the moving plate 72 to translate forward or backward by means of the two second moving blocks 735, thereby driving the entire manipulator 8 to translate forward or backward, so as to precisely adjust the front and rear positions of the manipulator 8 when the manipulator 8 is in an inclined state. During this process, since the third moving block 744 and the fourth moving block 745 in each second drive unit 74 can only translate relative to each other forward and backward and not left and right, and the third moving block 744 and the fourth moving block 745 can only translate relative to each other forward and backward and not left and right, when the moving plate 72 translates forward or backward, it will drive the third moving block 744 to move synchronously, while the fourth moving block 745 remains stationary.

[0044] Similarly, if the second drive motors 741 in the two second drive units 74 are started to rotate their drive shafts, the moving plate 72 will be driven to translate left or right in the same way, thereby driving the entire manipulator 8 to translate left or right, so as to precisely adjust the left and right positions of the manipulator 8 when the manipulator 8 is in an inclined state.

[0045] Then, start the second servo motor 88 in any one of the operating units to rotate its drive shaft. Then, due to the meshing of the gear 87 and the arc-shaped rack 84, force the gear 87 to roll along the arc-shaped tooth surface of the arc-shaped rack 84. Then, drive the syringe needle 811 to move circumferentially by means of the positioning seat 85 and the extension arm 86, so as to adjust the piercing angle of the syringe needle 811. In addition, according to needs, the third servo motor 75 can also be started to rotate its drive shaft, and then drive the entire manipulator 8 to rotate to adjust the circumferential position of the syringe needle 811 relative to the sample on the premise that the manipulator 8 is in an inclined position by means of the U-shaped hanger 82.

[0046] When the syringe needle 811 moves circumferentially, the grating reading head 810 will read the position on the arc-shaped scale grating 89 in real time and accurately control the moving angle of the syringe needle 811. Since two operating units are provided in the present invention, the syringe needles 811 in the two operating units can simultaneously sample two different parts of the sample.

[0047] In the present invention, the axial movement mechanism originally built into the stage is transferred to the manipulator 8, so that the stage and the sample on the stage remain stationary. Instead, the position and angle of the syringe 811 are adjusted by means of the manipulator 8 to locate the operation site on the sample, and an angle adjustment component is added to the axial movement mechanism. Furthermore, the manipulator 8 can be tilted by means of the angle adjustment component to adjust the oblique movement angle of the manipulator 8, and the manipulator 8 can be translated forward and backward and left and right in the tilted state by means of the axial movement module 7; both of the two operation units in the manipulator 8 can also slide circumferentially to directly adjust the piercing angle of the syringe 811. This greatly increases the adjustment function of the biological micromanipulator, and thus the micromanipulation or injection angle can be precisely changed according to actual needs to achieve the optimal angle, thereby significantly improving the accuracy of the piercing or injection operation to ensure the experimental effect and avoid experimental failure, effectively promoting the practical use of the biological micromanipulator in the fields of biological scientific research and production; at the same time, the adjustment of the position and angle does not require manual operation, but is carried out automatically and accurately. Furthermore, the operation steps are greatly simplified to speed up the operation speed, thereby achieving the effect of saving time and effort and greatly facilitating the use; in addition, since the present invention is provided with two operation units, there are two syringes 811, and two positions on the sample can be operated simultaneously, thereby improving the operation efficiency.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle, characterized in that, It includes an angle adjustment component, an axial movement module, and an operator arranged successively from top to bottom; The angle adjustment component includes a horizontally arranged reference plate, an adjustment shaft that is horizontally and rotatably connected to the bottom of the reference plate and runs front and back, an adjustment plate horizontally arranged below the adjustment shaft, a worm gear sleeved and fixed outside the adjustment shaft, a first servo motor fixed to the bottom of the reference plate, and a worm concentrically fixed on the rotating shaft of the first servo motor and meshing with the worm gear. Both ends of the adjustment shaft are fixed to the adjustment plate, and the rotating shaft of the first servo motor is horizontally arranged to the left or right; The operator is arranged at the bottom of the adjustment plate through the axial movement module, and the operator can have functions of moving forward and backward and left and right translation in a direction parallel to the adjustment plate through the axial movement module; The operator includes a U-shaped hanger that is inverted and rotatably connected to the mobile end of the axial movement module, two arc-shaped backplate strips respectively fixed on the inner walls on both sides of the opening of the U-shaped hanger and symmetrically arranged, and two operating units respectively arranged on the two arc-shaped backplate strips. The openings of the two arc-shaped backplate strips are both arranged downward; The operating unit includes a positioning seat movably connected to the inner wall of the arc-shaped backplate strip to have a circumferential sliding function along the central axis of the arc-shaped backplate strip, an extension arm fixed to the positioning seat, and a syringe needle detachably fixed to the end of the extension arm; The operating unit further includes an arc-shaped rack concentrically fixed to the inner wall of the arc-shaped backplate strip, a second servo motor fixed to the positioning seat, and a gear concentrically fixed on the rotating shaft of the second servo motor. The rotating shaft of the second servo motor is horizontally arranged and perpendicular to the arc-shaped backplate strip, and the gear meshes on the arc-shaped tooth surface of the arc-shaped rack; The operating unit further includes an arc-shaped grating scale arranged between the arc-shaped backplate strip and the second servo motor or the positioning seat. The arc-shaped grating scale includes an arc-shaped scale grating concentrically fixed to the arc-shaped backplate strip and a grating reading head fixed to the second servo motor or the positioning seat and cooperating with the arc-shaped scale grating; 2. The axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle according to claim 1, characterized in that, The axial movement module includes a fixed plate fixed to the bottom of the adjustment plate and parallel to the adjustment plate, a moving plate horizontally arranged below the fixed plate, two first driving units arranged between the moving plate and the fixed plate and symmetrically distributed left and right, two second driving units arranged between the moving plate and the fixed plate and symmetrically distributed front and back, and a third servo motor embedded and fixed to the bottom of the moving plate. The rotating shaft of the third servo motor is arranged downward and vertically fixed to the top of the U-shaped hanger; 3. The axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle according to claim 2, characterized in that, The first driving unit includes a first driving motor fixed to the bottom of the fixed plate, a first lead screw rotatably connected to the bottom of the fixed plate and running front and back, a first traction block sleeved and screwed outside the first lead screw, and a first moving block and a second moving block arranged respectively up and down. The rotating shaft of the first driving motor is concentrically fixed to one end of the first lead screw. The top of the first moving block is movably connected to the bottom of the fixed plate to have a function of moving forward and backward. The bottom of the first moving block is movably connected to the top of the second moving block to have a function of moving left and right. The bottom of the second moving block is fixed to the top of the moving plate, and the first traction block is fixed to one side of the second moving block.

4. The axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle according to claim 2, characterized in that, The second driving unit includes a second driving motor fixed to the bottom of the fixed plate, a second lead screw rotatably connected to the bottom of the fixed plate and extending in the front-rear direction, a second traction block sleeved and screwed outside the second lead screw, and a third moving block and a fourth moving block arranged vertically. The rotating shaft of the second driving motor is concentrically fixed to one end of the second lead screw. The top of the third moving block is movably connected to the bottom of the fixed plate to have the function of left-right translation. The bottom of the third moving block is movably connected to the top of the fourth moving block to have the function of front-rear translation. The bottom of the fourth moving block is fixed to the top of the moving plate. The second traction block is fixed to one side of the fourth moving block.

5. The axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle according to claim 1, characterized in that, The manipulator further includes a positioning ring fixed between the two ends of each arc-shaped backplate strip, two hanging plates respectively fixed to the outer walls on both sides of the opening of the U-shaped hanger and both inclined, and a spherical cover concentrically arranged inside the positioning ring. The ends of the two hanging plates both pass inward through the opening of an arc-shaped backplate strip on the same side and are both fixed to the spherical cover.

6. The axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle according to claim 5, characterized in that, The opening of the spherical cover is arranged downward. The center of the circumferential sliding track of the positioning seat coincides with the center of the spherical cover. A positioning groove is formed at the top of the spherical cover. One end of the syringe needle close to the spherical cover is movably inserted into the positioning groove and is aligned with the center of the spherical cover.

7. The axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle according to claim 6, characterized in that, An annular flange is formed outward at the edge of the opening of the spherical cover. Correspondingly, an arc-shaped connecting strip is formed outward at the end of each of the two hanging plates. The two arc-shaped connecting strips are arranged diagonally and are both fixed to the annular flange.

8. The axial movement mechanism of a biological micromanipulator with adjustable oblique movement angle according to claim 1, characterized in that, An arc-shaped groove is formed in the outer wall at the top of the arc-shaped backplate strip. The arc-shaped scale grating is concentrically fixed in the arc-shaped groove. The grating reading head extends into the arc-shaped groove and cooperates with the arc-shaped scale grating.

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